Potential collision detection and reversing aid system

ABSTRACT

A collision warning and countermeasure system ( 10 ) for an automotive vehicle ( 12 ) is provided. The system ( 10 ) includes a transmission gear sensor ( 20 ) that generates a transmission gear signal. A multi-mode object detection sensor ( 28 ) generates an object detection signal. The multi-mode object detection sensor ( 28 ) operates in a detection mode in response to the transmission gear signal. A controller ( 26 ) is electrically coupled to the transmission gear sensor ( 20 ) and the multi-mode object detection sensor ( 28 ) and generates a countermeasure signal in response to the object detection signal. A method of performing the same is also provided.

CROSS REFERENCE TO RELATED APPLICATIONS

The present invention is related to U.S. patent application Ser. No.10/064,550 entitled “Potential Collision Detection and Parking AidSystem” filed simultaneously herewith and incorporated by referenceherein.

BACKGROUND OF INVENTION

1. Technical Field

The present invention relates to collision warning and countermeasuresystems and reversing aid systems for an automotive vehicle, and moreparticularly to a system and method of performing object detection forthe stated systems.

2. Background of the Invention

Collision warning and countermeasure systems, and parking aid systemsare becoming more widely used. Collision warning and countermeasuresystems and parking aid systems provide a vehicle operator knowledge andawareness of objects vehicles within close proximity so as to preventcolliding with those objects. Countermeasure systems exist in variouspassive and active forms. Some countermeasure systems are used to aid inprevention of a collision, others are used to aid in the prevention ofinjury to a vehicle operator.

Collision warning and countermeasure systems currently exist in variousforms. Certain collision warning and countermeasure systems are able tosense a vehicle or an object at approximate distances of 20-30 m from ahost vehicle and warn the host vehicle operator, such that the operatorcan take precautionary steps to prevent a collision or injury. Othercollision warning and countermeasure systems activate passive or activecountermeasures such as airbags, load limiting seatbelts, or brakecontrol whereby the system itself aids in preventing a collision orinjury.

Reversing aid systems are typically used to detect an object rearward ofand within approximately 180 cm of the host vehicle, when the hostvehicle is in a reverse gear. Reversing aid systems indicate to avehicle operator that an object, that may not be visible to the vehicleoperator, is within a stated distance and location relative to the hostvehicle. The vehicle operator may than respond accordingly.

Currently, since most of the object detection sensors are only capableof operating in a single mode, in order to perform object detection forboth collision warning and countermeasure systems and for reversing aidsystems, dual sets of object detection sensors are required. A first setof object detection sensors operate in a first mode to detect objects ina first range and a second set of object detection sensors operate in asecond mode to detect objects in a second range. Object detectionsensing requirements are generally less stringent for objects existingat 20-30 m than for objects existing within reversing aid system objectdetection ranges.

It is desirable, when designing a vehicle to minimize vehiclecomponents, so as to minimize space requirements for the components in avehicle, minimize weight of the vehicle, and minimize vehicle productionand manufacturing costs. It is therefore desirable to provide acollision warning and countermeasure system that incorporates featuresof a reversing aid system and minimizes the amount of object detectionsensors to satisfy the above-stated desirable design objectives.

SUMMARY OF INVENTION

The present invention provides a system and method of detecting objectswithin close proximity of an automotive vehicle. A collision warning andcountermeasure system for an automotive vehicle is provided. The systemincludes a transmission gear sensor that generates a transmission gearsignal. A multi-mode object detection sensor generates an objectdetection signal. The multi-mode object detection sensor operates in adetection mode in response to the transmission gear signal. A controlleris electrically coupled to the transmission gear sensor and themulti-mode object detection sensor and generates a countermeasure signalin response to the object detection signal. A method of performing thesame is also provided.

One of several advantages of the present invention is that it provides acollision warning, countermeasure, and reversing aid system thatutilizes multi-mode object detection sensors, thereby, utilizing thesame object detection sensors for both potential collision detection andreversing aid. The ability to use the same object detection sensors formultiple operating modes reduces the number of vehicle components,weight of the vehicle, and production and manufacturing costs andincreases space available in the vehicle.

Another advantage of the present invention is that it is versatile. Itmay be applied in multiple applications due to the ability of operatingin multiple modes and in various combinations. For example, a firstmulti-mode object detection sensor may be utilized for more than oneoperating mode and a second multi-mode object detection sensor may beutilized synchronously with, but for a different operating mode than thefirst multi-mode object detection sensor.

The present invention itself, together with attendant advantages, willbe best understood by reference to the following detailed description,taken in conjunction with the accompanying figures.

BRIEF DESCRIPTION OF DRAWINGS

For a more complete understanding of this invention reference should nowbe had to the embodiments illustrated in greater detail in theaccompanying figures and described below by way of examples of theinvention wherein:

FIG. 1 is a block diagrammatic view of a collision warning andcountermeasure system for an automotive vehicle in accordance with anembodiment of the present invention;

FIG. 2 is a top view of forward sensing zones for a parking aid mode anda default mode in accordance with an embodiment of the presentinvention;

FIG. 3 is a top view of rearward sensing zones for the parking aid mode,a reversing aid mode, and the default mode in accordance with anembodiment of the present invention; and

FIG. 4 is a logic flow diagram illustrating a method of detectingobjects utilizing the collision warning and countermeasure system inaccordance with multiple embodiments of the present invention.

DETAILED DESCRIPTION

In the following figures the same reference numerals will be used torefer to the same components. While the present invention is describedwith respect to a system and method of detecting objects exterior to anautomotive vehicle, the present invention may be adapted and applied tovarious systems including: collision warning systems, collisionavoidance systems, parking aid systems, reversing aid systems,countermeasure systems, vehicle systems, or other systems that mayrequire collision avoidance or assessment.

In the following description, various operating parameters andcomponents are described for one constructed embodiment. These specificparameters and components are included as examples and are not meant tobe limiting.

Also, in the following description the term “performing” may includeactivating, deploying, initiating, powering, and other terms known inthe art that may describe the manner in which a passive countermeasuremay be operated.

Additionally, in the following description various countermeasures arediscussed. The countermeasures may be reversible or irreversible.Reversible countermeasures refer to countermeasures that may be reset totheir original form or used repeatedly without a significant amount offunctional deficiency, which may be determined by a system designer.Irreversible countermeasures refer to countermeasures such as airbagsthat, once deployed, are not reusable.

Moreover a countermeasure signal may include information pertaining tothe above stated reversible and irreversible countermeasures or mayinclude other information, such as collision warning information,default mode countermeasure information, and parking aid countermeasureinformation. For example, the countermeasure signal may contain objectdetection information, which may be used to indicate to a vehicleoperator the presence or close proximity of a detected object.

Referring now to FIG. 1, a block diagrammatic view of a collisionwarning and countermeasure system 10 for an automotive vehicle or hostvehicle 12 in accordance with an embodiment of the present invention isshown. The system 10 includes a potential collision detection andparking aid system 14 and a potential collision detection and reversingaid system 16. The systems 10, 14, and 16 include a velocity sensor 18,a transmission gear sensor 20, a forward series of multi-mode objectdetection sensors 22, and a rearward series of multi-mode objectdetection sensors 24, which are electrically coupled to a maincontroller 26. The forward detection sensors 22 and the rearwarddetection sensors 24 may each include one or more multi-mode objectdetection sensors 28 as shown. The controller 26 is also electricallycoupled to passive countermeasures 30, active countermeasures 32, and anindicator 34. The controller 26 determines operating modes of theforward detection sensors 22 and of the rearward detection sensors 24and determines whether to activate the passive countermeasures 30, theactive countermeasures 32, or whether to indicate, via the indicator 34,to a vehicle operator various object and vehicle status information.

The velocity sensor 18 may be of various forms, such as a transmissionrotation sensor, a wheel speed sensor, an accelerometer, an opticalsensor, or other velocity sensor known in the art. The velocity sensor18 determines the traveling speed of the vehicle 12 and generates avelocity signal.

The gear sensor 20 may also be of various forms. The gear sensor 20 maybe in the form of a switch, a solenoid, a motion sensor, an encoder, orin another form known in the art. The gear sensor 20 determines theoperating gear of the vehicle 12 and generates a gear signal. Note thegear sensor 20 may detect an operating gear of a conventional mechanicaltransmission or may correspond to an operating range of an electronictransmission.

The forward detection sensors 22 and the rearward detection sensors 24are capable of operating in multiple modes. The forward detectionsensors 22 and the rearward detection sensors 24 may be of varioussensor technologies including: radar, lidar, or other sensor technologyform known in the art. The forward detection sensors 22 and the rearwarddetection sensors 24 generate multiple object detection signals upondetecting one or more objects of various size and shape. The objectdetection signals may include various object information includingobject relative range, velocity, and bearing information, as well asother object information known in the art.

Referring now also to FIG. 2, a top view of forward sensing zones for aparking aid mode and a default mode in accordance with an embodiment ofthe present invention are shown.

In one embodiment of the present invention, the forward detectionsensors 22 are capable of operating in a forward parking aid mode or ina default mode. The forward parking aid mode, for the forward detectionsensors 22, refers to monitoring a first forward sensing zone 40 havinga sensing distance D₁ of approximately up to five meters. In anotherembodiment of the present invention, the sensing distance D₁ isapproximately equal to 60 cm. The default mode, for the forwarddetection sensors 22, refers to monitoring a second forward sensing zone42 having a sensing distance D₂ of approximately equal to 5-30 m. Inanother embodiment of the present invention the sensing zone D₂ isapproximately between 20-30 m. During the forward parking aid mode theforward detection sensors 22 detect an object within forward sensingzone 40 that may have a lateral sensing distance D₃ that isapproximately equal to 50 cm.

Referring now also to FIG. 3, a top view of rearward sensing zones forthe parking aid mode, a reversing aid mode, and the default mode inaccordance with an embodiment of the present invention are shown.

In one embodiment of the present invention, the rearward detectionsensors 24 are capable of operating in a reverse parking aid mode orreversing aid mode and the default mode. The reversing aid mode, for therearward detection sensors 24 refers to monitoring a first rearwardsensing zone 50 having a sensing distance D₄ approximately equal to 5 m.In another embodiment of the present invention, the sensing distance D₄is approximately equal to 180 cm. The default mode, for the rearwarddetection sensors 24, refers to monitoring a second rearward sensingzone 52 having a sensing distance D₅ approximately equal to 5-30 m. Inanother embodiment of the present invention the sensing distance D₅ isapproximately between 20-30 m. During the reversing aid mode therearward detection sensors 24 detect an object within rearward sensingzone 50 that may have a lateral sensing distance D₆ approximately equalto 50 cm.

The main controller 26 is preferably microprocessor based such as acomputer having a central processing unit, memory (RAM and/or ROM), andassociated input and output buses. The main controller 26 may be aportion of a central vehicle main control unit, an interactive vehicledynamics module, a restraints control module, a main safety controller,or may be a stand-alone controller as shown. The controller 26determines which of the detection sensors 22 and 24 operate in theparking aid the reversing aid mode, the default mode, or other modesknown in the art. The parking aid mode includes the forward parking aidmode and the reverse parking aid mode.

While operating in the default mode the controller 26 may providecollision warning and countermeasure performance. Depending upon vehicle12 and object relative positions, velocities, and accelerations, thecontroller 26 may determine whether to indicate to the vehicle operator,via the indicator 34, of a potential collision, or may determine toperform a passive countermeasure 30 or active countermeasure 32.

The controller 26 may also determine whether detection sensors 22 and 24or other system devices are malfunctioning and indicate to the vehicleoperator corresponding information in that respect. When a system deviceis malfunctioning the controller 26 may disable other system or vehicledevices to prevent a device from performing inappropriately.

The controller 26 in response to object information relative to thevehicle 12, signals one or more of the passive countermeasures 30 andthe active countermeasures 32, as needed, so as to prevent a collisionor an injury.

The passive countermeasures 30 may include internal airbag control,seatbelt control, knee bolster control, head restraint control, loadlimiting pedal control, load limiting steering control, pretensionercontrol, external airbag control, pedestrian protection control, andother passive countermeasures known in the art. Pretensioner control mayinclude control over pyrotechnic and motorized seatbelt pretensioners.Airbag control may include control over front, side, curtain, hood,dash, or other type airbags. Pedestrian protection control may includecontrolling a deployable vehicle hood, a bumper system, or otherpedestrian protective devices.

Active countermeasures 32 may include brake control, throttle control,steering control, suspension control, transmission control, otherchassis control systems, and other active countermeasures known in theart.

Indicator 34 is used to signal or indicate a collision-warning signal oran object identification signal in response to the object detectionsignals. The indicator 34 may include a video system, an audio system,an LED, a light, global positioning system, a heads-up display, aheadlight, a taillight, a display system, a telematic system or otherindicator. The indicator 34 may supply warning signals,collision-related information, external-warning signals to objects orpedestrians located outside of the vehicle, or other pre and postcollision information.

Referring now to FIG. 4, a logic flow diagram illustrating a method ofdetecting objects within the system 10 in accordance with multipleembodiments of the present invention is shown.

In step 100, the velocity sensor 18 generates a vehicle velocity signal,corresponding to a traveling velocity of the vehicle 12. The velocitysignal may be in a magnitude format, thereby having the same valuewhether the vehicle 12 is traveling in a forward or rearward directionor may provide direction information, via positive or negativeindication.

In step 102, the gear sensor 20 generates a gear signal representing acurrent operating gear. The vehicle 12 may be operating in a forwardgear, a rearward gear, or a stationary gear.

In step 104, the controller 26 determines whether the vehicle 12 isstationary in response to the velocity signal, the gear signal, or acombination thereof. When the vehicle 12 is stationary, such that thevehicle traveling velocity is equal to zero the controller 26 operatesthe detection sensors 22 and 24 in the default mode and proceeds toperform step 106, otherwise step 122 is performed.

In step 106, the controller 26 operates the detection sensors 22 and 24in the default mode and determines detected object relative range,velocity, and bearing as compared to the host vehicle 12. The objectrelative range, velocity, and bearing is determined in response to theobject detection signals and the host vehicle velocity signal. Steps106-120 are generally referred to as the default mode.

In step 110, the controller 26 maintains an object track record fordetected objects and continuously updates the track record in responseto the object detection signals.

In step 112, the controller 26 determines target object velocities V_(x)and V_(y) and accelerations A_(x) and A_(y) relative to the vehicle fromfiltered object detection signal data.

In addition, in step 112, an x-axis intercept X_(tp), corresponding withan x₁-axis and an x₂-axis extending across a front end 111 and a rearend 113, respectively, of the vehicle 12 is determined along with anintercept time t_(p). The x₁-axis and the x₂-axis are approximatelyin-line with vehicle bumpers 115, as shown in FIGS. 2 and 3, Theintercept time t_(p) representing an approximate amount of time until adetected object reaches the x-axis of the host vehicle.

In step 114, the controller 26 assesses the potential for a collision.Probability values for a predicted collision are evaluated to determinewhen the values are within a predetermined range. For example, when thex-axis intercept is approximately less than half the width of thevehicle 12, there exists a high probability of a collision occurring.

In step 116, current object and vehicle parameters are compared withpredetermined countermeasure deployment values to determine whether toperform a passive countermeasure 30 or an active countermeasure 32. Whenactual object and vehicle parameter values are equal to or exceedpredetermined countermeasure deployment values, a countermeasure signalis generated and step 118 is performed, otherwise the controller 26directly returns to step 100.

In step 118, passive countermeasures 30 or active countermeasures 32 areperformed according to determined deployment criteria and in response tothe countermeasure signal. For example, when it is determined that anairbag is to be deployed, due to object and vehicle traveling speeds,the controller 26 confirms that an appropriate airbag deployment timehas been reached and that there is sufficient time to deploy the airbag.After a predefined time interval, when a collision does not occur,resettable countermeasures are reinitialized in step 120.

For further detailed explanation on x-axis intercept X_(tp) andintercept time t_(p), U.S. patent application Ser. No. 09/995,503entitled “Remote Sensing Based Pre-Crash Threat Assessment System”, isincorporated herein by reference.

In step 122, the controller 26 determines whether the vehicle 12 is in areverse gear in response to the gear signal. When the vehicle 12 is in areverse gear, step 124 is performed, otherwise step 128 is performed.

In step 124, the forward detection sensors 22 receive an operating modesignal from the controller 26 to operate in the default mode, of steps106-120. The detection sensors 24 receive an operating mode signal fromthe controller 26 to operate in the reverse parking aid mode orreversing aid mode. The first rearward sensing zone 50 is monitored forobjects, as described above.

In step 126, the controller 26 generates a warning signal and indicatesto the vehicle operator object information of existing objects withinthe first rearward sensing zone. In one embodiment of the presentinvention the controller 26 indicates the warning signal using anaudible tone with variable pulse rate corresponding to nearest objectrange. In another embodiment of the present invention the controller 26provides a visual indication to the vehicle operator. Following step126, the controller 26 returns to step 100.

In step 128, the controller 26 determines whether the vehicle travelingvelocity is approximately less than or equal to 10 kph. When the vehicle12 is traveling at a velocity less or equal to 10 kph step 130 isperformed, otherwise step 106 is performed and the controller 26operates the detection sensors 22 and 24 in the default mode.

In step 130, when the vehicle 12 is traveling at a velocityapproximately between zero and 10 kph the controller 26 operates theforward detection sensors 22 in the forward parking aid mode and therearward detection sensors 24 in the default mode. The forward detectionsensors 22 receive an operating mode signal from the controller 26 tooperate in the forward parking aid mode and the rearward detectionsensors 24 similarly receive an operating mode signal to operate in thedefault mode. The forward detection sensors 22 scan the first forwardsensing zone 40 for objects of interest.

In step 132, the controller 26 generates a warning signal and indicatesto the vehicle operator target object information for objects in thefirst forward sensing zone 40, so that the operator may respondaccordingly. Upon completing step 136, the controller returns to step100.

When the controller 26 indicates object information to the vehicleoperator the controller 26 may mute other vehicle audio systems, toprovide clear alert potential collision and countermeasure information.

The above-described steps are meant to be an illustrative example, thesteps may be performed synchronously or in a different order dependingupon the application. Also, the system 10 may operate in one or all ofthe above-stated operating modes or in any combination thereof.

The present invention provides a collision warning and countermeasuresystem that utilizes object detection sensors that are capable ofoperating in multiple modes. The present invention in so doing minimizesthe number of components of a vehicle, manufacturing costs of a vehicle,and potentially minimizes weight of a vehicle.

While the invention has been described in connection with one or moreembodiments, it is to be understood that the specific mechanisms andtechniques which have been described are merely illustrative of theprinciples of the invention, numerous modifications may be made to themethods and apparatus described without departing from the spirit andscope of the invention as defined by the appended claims.

1. A collision warning and countermeasure system for an automotivevehicle comprising: a transmission gear sensor generating a transmissiongear signal; at least one multi-mode object detection sensor, each ofwhich having a plurality of sensing zones at least one multi-mode objectdetection sensor generating at least one object detection signal andoperating in a detection mode in response to said transmission gearsignal; and a controller electrically coupled to said transmission gearsensor and said at least one multi-mode object detection sensor andgenerating a countermeasure signal in response to said at least oneobject detection signal.
 2. A system as in claim 1 wherein saidcontroller generates a detection mode signal in response to saidtransmission gear signal and said at least one multi-mode objectdetection sensor operates in said detection mode in response to saiddetection mode signal.
 3. A system as in claim 1 wherein said at leastone multi-mode object detection sensor operates in a reversing aid modewhen the vehicle is in a reverse gear.
 4. A system as in claim 3 whereinsaid at least one multi-mode object detection sensor operates in areversing aid mode when the vehicle is traveling in a rearwarddirection.
 5. A system as in claim 1 wherein said at least onemulti-mode object detection sensor operates in a default mode when thevehicle is in a gear other than a reverse gear.
 6. A system as in claim1 further comprising a velocity sensor generating a vehicle velocitysignal, said controller determining object range, object velocity, andobject bearing relative to the vehicle in response to said vehiclevelocity signal and said at least one object detection signal.
 7. Asystem as in claim 6 wherein said controller determines object velocityand object acceleration relative to the vehicle in response to saidvehicle velocity signal and said at least one object detection signal.8. A system as in claim 6 wherein said controller determines intercepttime in response to said vehicle velocity signal and said at least oneobject detection signal.
 9. A system as in claim 6 wherein saidcontroller generates a countermeasure signal in response to said vehiclevelocity signal and said at least one object detection signal.
 10. Asystem as in claim 1 wherein said countermeasure signal comprises atleast one of collision warning information, countemeasure information,and reversing aid information.
 11. A system as in claim 1 wherein saidat least one multi-mode object detection sensor detects objects up toapproximately five meters rearward of the vehicle while in a reversingaid mode.
 12. A system as in claim 1 wherein said at least onemulti-mode object detection sensor detects objects forward and rearwardof the vehicle at distances relative to the vehicle of greater thanapproximately five meters while in a default mode.
 13. A system as inclaim 1 wherein said at least one multi-mode object detection sensorcomprises: a first multi-mode object detection sensor operating in aparking aid mode; and a second multi-mode object detection sensoroperating in a default mode.
 14. A system as in claim 13 wherein saidfirst multi-mode object detection sensor operates in a parking aid modeand said second multi-mode object detection sensor operates in a defaultmode when the vehicle is in a reverse gear.
 15. A system as in claim 1wherein said at least one multi-mode object detection sensor detectsobjects within a reverse sensing zone including a lateral sensingdistance.
 16. A system as in claim 15 wherein said at least onemulti-mode object detection sensor, in detecting objects within areverse sensing zone including a lateral sensing distance, detectsobjects up to approximately 50 cm in a lateral direction relative to thevehicle.
 17. A collision warning and countermeasure system for anautomotive vehicle comprising: a transmission gear sensor generating atransmission gear signal; at least one multi-mode object detectionsensor, each of which having a plurality of sensing zones at least onemulti-mode object detection sensor generating at least one objectdetection signal and operating in a detection mode in response to adetection mode signal; and a controller electrically coupled to saidtransmission gear sensor and said at least one multi-mode objectdetection sensor and generating said detection mode signal in responseto said transmission gear signal and generating a countermeasure signalin response to said at least one object detection signal; wherein saidat least one multi-mode object detection sensor operates in a reversingaid mode when the vehicle is in a reverse gear and operates in a defaultmode when the vehicle is in a gear other than a reverse gear.
 18. Amethod of detecting an object for a collision warning and countermeasuresystem for an automotive vehicle comprising: generating a transmissiongear signal; operating at least one multi-mode object detection sensor,each of which having a plurality of sensing zones, in a detection modein response to said transmission gear signal; and generating at leastone object detection signal.
 19. A method as in claim 18 furthercomprising generating a detection mode signal in response to saidtransmission gear signal and operating in said detection mode inresponse to said detection mode signal.
 20. A method as in claim 18wherein operating at least one multi-mode object detection sensor in adetection mode comprises operating in a reversing aid mode when thevehicle is in a reverse gear.